diff --git a/cmd/zfs/zfs_main.c b/cmd/zfs/zfs_main.c
index 5ed25d1ea720..62802de23e5f 100644
--- a/cmd/zfs/zfs_main.c
+++ b/cmd/zfs/zfs_main.c
@@ -132,6 +132,8 @@ static int zfs_do_zone(int argc, char **argv);
 static int zfs_do_unzone(int argc, char **argv);
 #endif
 
+static int zfs_do_help(int argc, char **argv);
+
 /*
  * Enable a reasonable set of defaults for libumem debugging on DEBUG builds.
  */
@@ -606,6 +608,9 @@ usage(boolean_t requested)
 		(void) fprintf(fp,
 		    gettext("\nFor the delegated permission list, run: %s\n"),
 		    "zfs allow|unallow");
+		(void) fprintf(fp,
+		    gettext("\nFor further help on a command or topic, "
+		    "run: %s\n"), "zfs help [<topic>]");
 	}
 
 	/*
@@ -8726,6 +8731,25 @@ zfs_do_version(int argc, char **argv)
 	return (zfs_version_print() != 0);
 }
 
+/* Display documentation */
+static int
+zfs_do_help(int argc, char **argv)
+{
+	char page[MAXNAMELEN];
+	if (argc < 3 || strcmp(argv[2], "zfs") == 0)
+		strcpy(page, "zfs");
+	else if (strcmp(argv[2], "concepts") == 0 ||
+	    strcmp(argv[2], "props") == 0)
+		snprintf(page, sizeof (page), "zfs%s", argv[2]);
+	else
+		snprintf(page, sizeof (page), "zfs-%s", argv[2]);
+
+	execlp("man", "man", page, NULL);
+
+	fprintf(stderr, "couldn't run man program: %s", strerror(errno));
+	return (-1);
+}
+
 int
 main(int argc, char **argv)
 {
@@ -8781,6 +8805,12 @@ main(int argc, char **argv)
 	if ((strcmp(cmdname, "-V") == 0) || (strcmp(cmdname, "--version") == 0))
 		return (zfs_do_version(argc, argv));
 
+	/*
+	 * Special case 'help'
+	 */
+	if (strcmp(cmdname, "help") == 0)
+		return (zfs_do_help(argc, argv));
+
 	if ((g_zfs = libzfs_init()) == NULL) {
 		(void) fprintf(stderr, "%s\n", libzfs_error_init(errno));
 		return (1);
diff --git a/cmd/zpool/zpool_main.c b/cmd/zpool/zpool_main.c
index 6d0dae8d8b05..d64fdfa5ba4c 100644
--- a/cmd/zpool/zpool_main.c
+++ b/cmd/zpool/zpool_main.c
@@ -126,6 +126,8 @@ static int zpool_do_version(int, char **);
 
 static int zpool_do_wait(int, char **);
 
+static int zpool_do_help(int argc, char **argv);
+
 static zpool_compat_status_t zpool_do_load_compat(
     const char *, boolean_t *);
 
@@ -538,6 +540,10 @@ usage(boolean_t requested)
 				(void) fprintf(fp, "%s",
 				    get_usage(command_table[i].usage));
 		}
+
+		(void) fprintf(fp,
+		    gettext("\nFor further help on a command or topic, "
+		    "run: %s\n"), "zpool help [<topic>]");
 	} else {
 		(void) fprintf(fp, gettext("usage:\n"));
 		(void) fprintf(fp, "%s", get_usage(current_command->usage));
@@ -11051,6 +11057,25 @@ zpool_do_version(int argc, char **argv)
 	return (zfs_version_print() != 0);
 }
 
+/* Display documentation */
+static int
+zpool_do_help(int argc, char **argv)
+{
+	char page[MAXNAMELEN];
+	if (argc < 3 || strcmp(argv[2], "zpool") == 0)
+		strcpy(page, "zpool");
+	else if (strcmp(argv[2], "concepts") == 0 ||
+	    strcmp(argv[2], "props") == 0)
+		snprintf(page, sizeof (page), "zpool%s", argv[2]);
+	else
+		snprintf(page, sizeof (page), "zpool-%s", argv[2]);
+
+	execlp("man", "man", page, NULL);
+
+	fprintf(stderr, "couldn't run man program: %s", strerror(errno));
+	return (-1);
+}
+
 /*
  * Do zpool_load_compat() and print error message on failure
  */
@@ -11118,6 +11143,12 @@ main(int argc, char **argv)
 	if ((strcmp(cmdname, "-V") == 0) || (strcmp(cmdname, "--version") == 0))
 		return (zpool_do_version(argc, argv));
 
+	/*
+	 * Special case 'help'
+	 */
+	if (strcmp(cmdname, "help") == 0)
+		return (zpool_do_help(argc, argv));
+
 	if ((g_zfs = libzfs_init()) == NULL) {
 		(void) fprintf(stderr, "%s\n", libzfs_error_init(errno));
 		return (1);
diff --git a/tests/zfs-tests/tests/functional/cli_root/zfs_program/zfs_program_json.ksh b/tests/zfs-tests/tests/functional/cli_root/zfs_program/zfs_program_json.ksh
index b0265c5ee4a1..2241b77bf806 100755
--- a/tests/zfs-tests/tests/functional/cli_root/zfs_program/zfs_program_json.ksh
+++ b/tests/zfs-tests/tests/functional/cli_root/zfs_program/zfs_program_json.ksh
@@ -117,7 +117,9 @@ usage:
 
 For the property list, run: zfs set|get
 
-For the delegated permission list, run: zfs allow|unallow")
+For the delegated permission list, run: zfs allow|unallow
+
+For further help on a command or topic, run: zfs help [<topic>]")
 cnt=0
 for cmd in ${neg_cmds[@]}; do
 	log_mustnot zfs program $cmd $TESTPOOL $TESTZCP $TESTDS 2>&1